Difference between revisions of "STM32F4 Discovery"

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==Overview==
==Overview==
* STMicroelectronics STM32F4VGT6 Cortex M4 MCU, up to 168Mhz with floating point unit (FPU), 192 KB RAM, 1024 KB Flash
* STMicroelectronics STM32F4VGT6 Cortex M4 MCU, up to 168Mhz with floating point unit (FPU), 192 KB RAM, 1024 KB Flash
* on-board STLinkv2 with SWD header (capable of programming itself or an external MCU)
* on-board STLinkv2 with SWD header (capable of programming onboard or external MCU)
* ob-board power regulator for the MCU (3V or 5V Input)
* on-board power regulator for the MCU (3V or 5V Input)
* 1 x user push button
* 1 x user push button
* 4(5) x LED (orange, green, red, blue, green)  
* 4(5) x LED (orange, green, red, blue, green)  
* 6 x UART (UART1, UART2, UART3, UART4, UART5, UART6)
* 4(6) x UART (UART1, UART2, UART3, (UART4, UART5), UART6)
* 3 x SPI (SPI1, SPI2, SPI3)
* 1(3) x SPI (SPI1, (SPI2, SPI3))
* 2(3) x I2C (I2C1, I2C2, (I2C3))
* 2(3) x I2C (I2C1, I2C2, (I2C3))
* 6 x ADC inputs (one is used for BAT voltage)
* 1 x PPM input
* 1 x PPM input
* 4 x ADC input, which one is used for bat voltage
* 1 x Spektrum input (with bind pin)
* 97 x 66 mm PCB
* 97 x 66 mm PCB
* 4 x status LED (USB red, USB green, power, USB OTG green, USB OTG red)
* 4 x status LED (USB red, USB green, power, USB OTG green, USB OTG red)
Line 30: Line 32:


== Pinout ==
== Pinout ==
[[Image:Stm32f4_discovery_left_bank.png|thumb|right|300px|left pin bank in relation to paparazzi]]
 
[[Image:Stm32f4_discovery_right_bank.png|thumb|right|300px|right pin bank in relation to paparazzi]]
The Discovery has a male 100 pin (2x25pin on both sides, also accessible on both sides of the pcb) pinout.  
The Discovery has a male 100 pin (2x25pin on both sides, also accessible on both sides of the pcb) pinout.  


Line 38: Line 39:
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|-
|PD13||LED_3||I/O||above LIS302DL||style="background:orange; color:black"|Orange
|PD13||LED_3||Out||above LIS302DL||style="background:orange; color:black"|Orange
|-
|-
|PD12||LED_4||I/O||left of LIS302DL||style="background:green; color:black"|Green
|PD12||LED_4||Out||left of LIS302DL||style="background:green; color:black"|Green
|-
|-
|PD14||LED_5||I/O||right of LIS302DL||style="background:red; color:black"|Red
|PD14||LED_5||Out||right of LIS302DL||style="background:red; color:black"|Red
|-
|-
|PD15||LED_6||I/O||below LIS302DL||style="background:blue; color:black"|Blue
|PD15||LED_6||Out||below LIS302DL||style="background:blue; color:black"|Blue
|-
|-
|PA9||LED_9||I/O||same as USB power (VBUS), needs to be enabled in stm32f4_discovery.h ||style="background:green; color:black"|Green
|PA9||LED_9||Out||same as USB power (VBUS, needs to be enabled in header file)||style="background:green; color:black"|Green
|}
|}  
 




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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PB6||UART1 TX||Out||UART1 Serial Output  
|PB6||UART1 TX||Out||UART1 Serial Output, 4k7 pullup for I2C
|-
|-
|PB7||UART1 RX||In||UART1 Serial Input
|PB7||UART1 RX||In||UART1 Serial Input
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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PD5||UART2 TX||Out||UART1 Serial Output
|PD5||UART2 TX||Out||UART2 Serial Output (usb otg power management fault output open drain)
|-
|-
|PD6||UART2 RX||In||UART1 Serial Input, also used for Spektrum input
|PD6||UART2 RX||In||UART2 Serial Input, also used for Spektrum input
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PD8||UART3 TX||Out||UART1 Serial Output
|PD8||UART3 TX||Out||UART3 Serial Output
|-
|-
|PD9||UART3 RX||In||UART1 Serial Input
|PD9||UART3 RX||In||UART3 Serial Input
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PC10||UART4 TX||Out||UART1 Serial Output
|PC10||UART4 TX||Out||UART4 Serial Output
|-
|-
|PC11||UART4 RX||In||UART1 Serial Input
|PC11||UART4 RX||In||UART4 Serial Input
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PC12||UART5 TX||Out||UART1 Serial Output
|PC12||UART5 TX||Out||UART5 Serial Output
|-
|-
|PD2||UART5 RX||In||UART1 Serial Input
|PD2||UART5 RX||In||UART5 Serial Input
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PC6||UART6 TX||Out||UART1 Serial Output
|PC6||UART6 TX||Out||UART6 Serial Output
|-
|PC7||UART6 RX||In||UART6 Serial Input
|}
 
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="60%"
|+'''SPI1 (for onboard LIS302DL)'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|PA5||SPI1 SCK||I/O||SPI1 Serial clock
|-
|-
|PC7||UART6 RX||In||UART1 Serial Input
|PA6||SPI1 MISO||I/O||SPI1 Master In Slave Out
|-
|PA7||SPI1 MOSI||I/O||SPI1 Master Out Slave In
|-
|PE3||SPI SS2||I/O||SPI1 Select Slave2
|}
|}


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|-
|-
|PB5||SPI1 MOSI||I/O||SPI1 Master Out Slave In
|PB5||SPI1 MOSI||I/O||SPI1 Master Out Slave In
|-
|PE2||SPI SS0||I/O||SPI1 Select Slave0
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PB3||SPI2 SCK||I/O||SPI2 Serial clock
|PB13||SPI2 SCK||I/O||SPI2 Serial clock
|-
|-
|PB4||SPI2 MISO||I/O||SPI2 Master In Slave Out
|PB14||SPI2 MISO||I/O||SPI2 Master In Slave Out
|-
|-
|PB5||SPI2 MOSI||I/O||SPI2 Master Out Slave In
|PB15||SPI2 MOSI||I/O||SPI2 Master Out Slave In
|-
|PE7||SPI SS1||I/O||SPI2 Select Slave1
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PB10||SPI3 SCK||I/O||SPI3 Serial clock
|PC10||SPI3 SCK||I/O||SPI3 Serial clock
|-
|-
|PB11||SPI3 MISO||I/O||SPI3 Master In Slave Out
|PC11||SPI3 MISO||I/O||SPI3 Master In Slave Out
|-
|-
|PB12||SPI3 MOSI||I/O||SPI3 Master Out Slave In
|PC12||SPI3 MOSI||I/O||SPI3 Master Out Slave In
|}
 
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="60%"
|+'''SPI SS'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PE2||SPI SS0||I/O||SPI Select Slave0
|PE3||SPI SS2||I/O||SPI3 Select Slave2 (also used for LIS302DL (SPI1) Slave Select)
|-
|P"7||SPI SS1||I/O||SPI Select Slave1
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PB10||I2C2 SCL||I/O||I2C2 Serial Clock
|PB10||I2C2 SCL||I/O||I2C2 Serial Clock (also used for MP45DT02 MEMS MIC clock in)
|-
|-
|PB11||I2C2 SDA||I/O||I2C2 Serial Data
|PB11||I2C2 SDA||I/O||I2C2 Serial Data
Line 185: Line 195:
|PC9||I2C3 SDA||I/O||I2C3 Serial Data
|PC9||I2C3 SDA||I/O||I2C3 Serial Data
|}
|}
Note: is disabled in stm32f4discovery.h, PA8 is used as Spektrum bind pin, PC9 is used as PPM input
Note: is disabled in header file, PA8 is used as Spektrum bind pin, PC9 is used as PPM (not Spektrum) input




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|PB1||AUX1||I/O||ADC_1
|PB1||AUX1||I/O||ADC_1
|-
|-
|PC1||AUX2||I/O||ADC_2
|PC5||AUX2||I/O||ADC_2
|-
|-
|PC4||AUX3||I/O||ADC_3
|PC4||AUX3||I/O||ADC_3
|-
|-
|PA4||BATT||I/O||ADC_4, is used for Battery voltage
|PA4||AUX4/BAT||I/O||ADC_4, is used for BAT voltage
|-
|PC1||AUX5||I/O||ADC_5
|-
|PC2||AUX6||I/O||ADC_6
|}
|}


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|PE13||PWM2||Out||Servo 3
|PE13||PWM2||Out||Servo 3
|-
|-
|PE13||PWM3||Out||Servo 4
|PE14||PWM3||Out||Servo 4
|-
|-
|PE5||PWM4||Out||Servo 5
|PE5||PWM4||Out||Servo 5
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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|PC9||PPM||In||PPM input
|PC9||PPM||In||PPM input (remember, you need 100 Ohm serial termination in order to use this)
|}
 
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="60%"
|+'''Spektrum'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|PA8||Bind||Out||Spektrum bind pin
|-
|PA10||PPM||IN||Spektrum PPM in
|}
|}


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!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|-
|SB17||SB17||Switch||Bypass for JP1, close this for security ! (if JP1 gets loose)
|SB17||SB17||Switch||Bypass for JP1, close this for security ! (if JP1 gets loose there is no power supply for the mcu)
|}
|}
==Daughterboard==
Currently we have two different breakout/baughter boards.
=== SMD & Molex ===
Another option with Molex connectors, levelshifters for I2C and SPI, as well as connectors for Spektrum satellites and a can phy would be:
[[Image:DiscoveryBreakout1_small.jpg|300px]]
[[Image:DiscoveryBreakout2_small.jpg|300px]]
Currently under testing, eagle files are coming, when its completely finished and airworthy :-)
=== THT ===
Target for this board is to be a ultra low cost THT daughterboard which should provide as many functions as possible. Also it should be as simple as possible (hence no SMD Components were used).
'''Notes''' <br/>
* Tall screw terminals can touch the THT solder joints from the discovery board. No electrical but a mechanical contact can appear. Don't force both pcb's all the way together (leave a small gap).
* Only mount the components needed.
* If [[IR_Sensors]] are used used, maybe the diodes shouldn't be mounted and the voltage divider should be changed.
* If you use the 22k/2.2k voltage divider for the BAT input, you need to change the VoltageOfAdc see [[Airframe_Configuration#Battery]].
'''Servo Power options''' <br/>
* External power source (to power servos with a higher voltage or an other voltage regulator, only GND stays connected).
* Power servos from the 5V rail, solder the two solder bridges near the three row header.
The servo rail also powers the RC receiver directly (PPM and Spektrum), take care of that if this rail runs on a higher voltage than 5V!<br/>
Servo and 5V net share the same GND!
'''IMU mounting options''' <br/>
* Drotek 10 DOF can be soldered on the  appropriate footprint. (phi, theta and psi need to be 180 degree offset)
* Other IMUs (e.g. MPU6050 breakout) can be soldered on the prototyling area. Use wires to connect it to the Droteks I2C2 pins e.g..
*Mount IMU elsewhere and connect it with cables.
'''BAT voltage'''<br/>
If you use the 22k/2.2k Resistor divider, you will need to redefine the values for the ADC conversation.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
  <section name="BAT">
    ...
    <define name="VOLTAGE_ADC_SCALE" value="0.008864469"/> <!-- R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
    <define name="VOLTAGE_OFFSET" value="0" unit="V"/>
    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
  </section>
</source>
}}
Also see [[Airframe_Configuration#Battery]].
[[File:Stm32f4discovery_daughterboard.jpg|400px]]
[[File:Stm32f4discovery_with_daughterboard.jpg|400px]]


==Firmware Flashing==
==Firmware Flashing==
'''FLASH_MODE=STLINK''' is set as default
'''FLASH_MODE=STLINK''' is set as default


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===STLINK===
===STLINK===
* with onboard STLinkV2 over SWD
* with onboard STLinkV2 over SWD
* required hardware: usb to mini USB cable
* required hardware: usb to mini USB cable
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===DFU-UTIL===
===DFU-UTIL===
* with the MCU native (embedded in rom) DFU USB bootloader over the micro USB AB connector
* with the MCU native (embedded in rom) DFU USB bootloader over the micro USB AB connector
* required hardware: USB to micro and USB to mini usb cable  
* required hardware: USB to micro and USB to mini usb cable  
* required external software: dfu-util  
* required external software: dfu-util  
* push MCU in DFU mode: connect mini and micro USB to PC, connect pin BOOT0 with 3V (if it doesnt work also BOOT1 (PB2) with GND), press reset button(LED LD7 should light up now), disconnect BOOT0 to 3V
* push MCU in DFU mode: connect mini(for power) and micro USB to PC, connect pin BOOT0 with 3V, press reset button(LED LD7 should light up now), disconnect BOOT0
* more information: [[DFU]] page
* more information: [[DFU]] page
=Supplier=
THe STM discovery boards look all quite alike. To make sure you get the right board here a direct [[http://nl.farnell.com/stmicroelectronics/stm32f4discovery/stm32f407-usb-otg-discovery-kit/dp/2009276 link at Farnell]]
Whatever supplier yo choose make sure it is a STM32F407 ,mind the 07 in the end, board.


[[Category:Autopilots]]
[[Category:Autopilots]]

Latest revision as of 12:21, 3 May 2015

This page is for the STM32F4 Discovery board with STM32F407VGT6, STM32F4 Disco is a familiar board with STM32F401VCT6, do not use this Files for the Disco board !

Autopilots
Booz
HB Autopilots
Lisa
Tiny
YAPA Autopilots
Ap.parrot minidrone
Apogee/v1.00
HITL
Autopilots
Bebop
Booz
Chimera/v1.00
Classix
CrazybeeF4Pro
Disco
Elle
Elle0
Future Autopilots
Krooz
KroozSD
LinAM V4
Lisa
Lisa/Bone
Lisa/L
Lisa/M
Lisa/M v1.0
Lisa/M v2.0
Lisa/MX
Lisa/S
NavGo v3
NavStik
Pixhawk
Pixracer
Previous Autopilots
STM32F4 Discovery
STM32F429I Discovery
Tawaki/v1.00
Tawaki/v1.10
Tawaki/v2.01
TWOG/v1.0
Umarim Lite v2
Umarim v1.0
Xvert

STM32F4Discovery front.jpg STM32F4Discovery back.jpg


Overview

  • STMicroelectronics STM32F4VGT6 Cortex M4 MCU, up to 168Mhz with floating point unit (FPU), 192 KB RAM, 1024 KB Flash
  • on-board STLinkv2 with SWD header (capable of programming onboard or external MCU)
  • on-board power regulator for the MCU (3V or 5V Input)
  • 1 x user push button
  • 4(5) x LED (orange, green, red, blue, green)
  • 4(6) x UART (UART1, UART2, UART3, (UART4, UART5), UART6)
  • 1(3) x SPI (SPI1, (SPI2, SPI3))
  • 2(3) x I2C (I2C1, I2C2, (I2C3))
  • 6 x ADC inputs (one is used for BAT voltage)
  • 1 x PPM input
  • 1 x Spektrum input (with bind pin)
  • 97 x 66 mm PCB
  • 4 x status LED (USB red, USB green, power, USB OTG green, USB OTG red)
  • LIS302DL MEMS 3 axis accelerometer on SPI1

Pinout

The Discovery has a male 100 pin (2x25pin on both sides, also accessible on both sides of the pcb) pinout.

LED
Pin # Name Type Description Color
PD13 LED_3 Out above LIS302DL Orange
PD12 LED_4 Out left of LIS302DL Green
PD14 LED_5 Out right of LIS302DL Red
PD15 LED_6 Out below LIS302DL Blue
PA9 LED_9 Out same as USB power (VBUS, needs to be enabled in header file) Green


UART1
Pin # Name Type Description
PB6 UART1 TX Out UART1 Serial Output, 4k7 pullup for I2C
PB7 UART1 RX In UART1 Serial Input


UART2
Pin # Name Type Description
PD5 UART2 TX Out UART2 Serial Output (usb otg power management fault output open drain)
PD6 UART2 RX In UART2 Serial Input, also used for Spektrum input


UART3
Pin # Name Type Description
PD8 UART3 TX Out UART3 Serial Output
PD9 UART3 RX In UART3 Serial Input


UART4 (Can NOT be used if SPI_3 is active!)
Pin # Name Type Description
PC10 UART4 TX Out UART4 Serial Output
PC11 UART4 RX In UART4 Serial Input


UART5 (Can NOT be used if SPI_3 is active!)
Pin # Name Type Description
PC12 UART5 TX Out UART5 Serial Output
PD2 UART5 RX In UART5 Serial Input


UART6
Pin # Name Type Description
PC6 UART6 TX Out UART6 Serial Output
PC7 UART6 RX In UART6 Serial Input


SPI1 (for onboard LIS302DL)
Pin # Name Type Description
PA5 SPI1 SCK I/O SPI1 Serial clock
PA6 SPI1 MISO I/O SPI1 Master In Slave Out
PA7 SPI1 MOSI I/O SPI1 Master Out Slave In
PE3 SPI SS2 I/O SPI1 Select Slave2


SPI1
Pin # Name Type Description
PB3 SPI1 SCK I/O SPI1 Serial clock
PB4 SPI1 MISO I/O SPI1 Master In Slave Out
PB5 SPI1 MOSI I/O SPI1 Master Out Slave In
PE2 SPI SS0 I/O SPI1 Select Slave0


SPI2 (Can NOT be used if PWM10 & PWM11 is active!)
Pin # Name Type Description
PB13 SPI2 SCK I/O SPI2 Serial clock
PB14 SPI2 MISO I/O SPI2 Master In Slave Out
PB15 SPI2 MOSI I/O SPI2 Master Out Slave In
PE7 SPI SS1 I/O SPI2 Select Slave1


SPI3 (Can NOT be used if UART4 & UART5 is active!)
Pin # Name Type Description
PC10 SPI3 SCK I/O SPI3 Serial clock
PC11 SPI3 MISO I/O SPI3 Master In Slave Out
PC12 SPI3 MOSI I/O SPI3 Master Out Slave In
PE3 SPI SS2 I/O SPI3 Select Slave2 (also used for LIS302DL (SPI1) Slave Select)


I2C1
Pin # Name Type Description
PB8 I2C1 SCL I/O I2C1 Serial Clock
PB9 I2C1 SDA I/O I2C1 Serial Data


I2C2
Pin # Name Type Description
PB10 I2C2 SCL I/O I2C2 Serial Clock (also used for MP45DT02 MEMS MIC clock in)
PB11 I2C2 SDA I/O I2C2 Serial Data


I2C3 (Can NOT be used if Spektrum bind / PPM input is active!)
Pin # Name Type Description
PA8 I2C3 SCL I/O I2C3 Serial Clock
PC9 I2C3 SDA I/O I2C3 Serial Data

Note: is disabled in header file, PA8 is used as Spektrum bind pin, PC9 is used as PPM (not Spektrum) input


ADC
Pin # Name Type Description
PB1 AUX1 I/O ADC_1
PC5 AUX2 I/O ADC_2
PC4 AUX3 I/O ADC_3
PA4 AUX4/BAT I/O ADC_4, is used for BAT voltage
PC1 AUX5 I/O ADC_5
PC2 AUX6 I/O ADC_6


PWM
Pin # Name Type Description
PE9 PWM0 Out Servo 1
PE11 PWM1 Out Servo 2
PE13 PWM2 Out Servo 3
PE14 PWM3 Out Servo 4
PE5 PWM4 Out Servo 5
PE6 PWM5 Out Servo 6
PA3 PWM6 Out Servo 7
PA2 PWM7 Out Servo 8
PA1 PWM8 Out Servo 9
PA0 PWM9 Out Servo 10
PB14 PWM10 Out Servo 11, Can not be used if SPI2 is active
PB15 PWM11 Out Servo 12, Can not be used if SPI2 is active


PPM
Pin # Name Type Description
PC9 PPM In PPM input (remember, you need 100 Ohm serial termination in order to use this)


Spektrum
Pin # Name Type Description
PA8 Bind Out Spektrum bind pin
PA10 PPM IN Spektrum PPM in


Jumper

Jumper
Pin # Name Type Description
JP1 JP1 Switch MCU Current can be measured here
CN3 CN3 Switch closed: STLinkV2 is connected to onboard MCU, open: is not connectec to onboard, only external header


Soolder Jumper
Pin # Name Type Description
SB17 SB17 Switch Bypass for JP1, close this for security ! (if JP1 gets loose there is no power supply for the mcu)

Daughterboard

Currently we have two different breakout/baughter boards.

SMD & Molex

Another option with Molex connectors, levelshifters for I2C and SPI, as well as connectors for Spektrum satellites and a can phy would be:

DiscoveryBreakout1 small.jpg DiscoveryBreakout2 small.jpg

Currently under testing, eagle files are coming, when its completely finished and airworthy :-)

THT

Target for this board is to be a ultra low cost THT daughterboard which should provide as many functions as possible. Also it should be as simple as possible (hence no SMD Components were used).

Notes

  • Tall screw terminals can touch the THT solder joints from the discovery board. No electrical but a mechanical contact can appear. Don't force both pcb's all the way together (leave a small gap).
  • Only mount the components needed.
  • If IR_Sensors are used used, maybe the diodes shouldn't be mounted and the voltage divider should be changed.
  • If you use the 22k/2.2k voltage divider for the BAT input, you need to change the VoltageOfAdc see Airframe_Configuration#Battery.

Servo Power options

  • External power source (to power servos with a higher voltage or an other voltage regulator, only GND stays connected).
  • Power servos from the 5V rail, solder the two solder bridges near the three row header.

The servo rail also powers the RC receiver directly (PPM and Spektrum), take care of that if this rail runs on a higher voltage than 5V!
Servo and 5V net share the same GND!

IMU mounting options

  • Drotek 10 DOF can be soldered on the appropriate footprint. (phi, theta and psi need to be 180 degree offset)
  • Other IMUs (e.g. MPU6050 breakout) can be soldered on the prototyling area. Use wires to connect it to the Droteks I2C2 pins e.g..
  • Mount IMU elsewhere and connect it with cables.

BAT voltage

If you use the 22k/2.2k Resistor divider, you will need to redefine the values for the ADC conversation.

File: conf/airframes/myplane.xml 
  <section name="BAT">
    ...
    <define name="VOLTAGE_ADC_SCALE" value="0.008864469"/> <!-- R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
    <define name="VOLTAGE_OFFSET" value="0" unit="V"/>
    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
  </section>

Also see Airframe_Configuration#Battery.


Stm32f4discovery daughterboard.jpg Stm32f4discovery with daughterboard.jpg

Firmware Flashing

FLASH_MODE=STLINK is set as default

STM32F4 Discovery can mainly be programmed in two different ways:

STLINK

  • with onboard STLinkV2 over SWD
  • required hardware: usb to mini USB cable
  • required software: st_flash and st_util from Texane
  • more information: STLink page

DFU-UTIL

  • with the MCU native (embedded in rom) DFU USB bootloader over the micro USB AB connector
  • required hardware: USB to micro and USB to mini usb cable
  • required external software: dfu-util
  • push MCU in DFU mode: connect mini(for power) and micro USB to PC, connect pin BOOT0 with 3V, press reset button(LED LD7 should light up now), disconnect BOOT0
  • more information: DFU page

Supplier

THe STM discovery boards look all quite alike. To make sure you get the right board here a direct [link at Farnell] Whatever supplier yo choose make sure it is a STM32F407 ,mind the 07 in the end, board.

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